DK2630453T3 - A method for monitoring a rotating member belonging to a mechanical transmission of a wind turbine - Google Patents

A method for monitoring a rotating member belonging to a mechanical transmission of a wind turbine Download PDF

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DK2630453T3
DK2630453T3 DK11787732T DK11787732T DK2630453T3 DK 2630453 T3 DK2630453 T3 DK 2630453T3 DK 11787732 T DK11787732 T DK 11787732T DK 11787732 T DK11787732 T DK 11787732T DK 2630453 T3 DK2630453 T3 DK 2630453T3
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angular velocity
rotating element
signal
signal representing
over
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DK11787732T
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Danish (da)
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Hugo Andre
Didier Remond
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Maia Eolis
Inst Nat Des Sciences Appliquées De Lyon
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
    • G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines

Description

The present invention relates to a method for monitoring a rotating element belonging to a mechanical transmission of a wind turbine, and to a system for monitoring a rotating element belonging to a mechanical transmission of a wind turbine. A "rotating element" should be understood to mean, in particular: - a shaft line of the wind turbine, - a bearing supporting a shaft line, - a gear belonging to a gear train of a multiplying gear of the wind turbine, - a rotor/stator bar of a generator of the wind turbine.
The object of the monitoring of the rotating elements is in particular to detect defects in these rotating elements. Monitoring the rotating elements is an important issue in managing maintenance and servicing of a stock of wind turbines. It is known practice from the state of the art to have accelerometers on a casing of the rotating element to be monitored in order to acquire measurements with a constant time step of the vibrations emitted by the defects and transmitted to the accelerometers by solid pathway through the casing. The defects of the rotating element to be monitored generate cyclical excitations, the frequency of appearance of which depends directly on the angular velocity of the rotating element. Moreover, the solid pathway filtering these defects is influenced by numerous parameters including the torque exerted on the rotating element. US5365787 and WO9605486 disclose methods for monitoring a rotating element belonging to a mechanical transmission of a wind turbine. These methods include steps for determining a signal representative of the instantaneous angular velocity of the rotating element over an acquisition period and for calculating the discrete Fourier transform of the signal representative of the angular velocity sampled so as to obtain an order spectrum of the signal representative of the angular velocity.
The time-related measurement acquisitions can be performed only when the operating conditions of the wind turbine are stable; in particular, the angular velocity of the rotating element has to remain within a predetermined acquisition window for a sufficiently long acquisition period. The acquisition window is predetermined such that: - the cyclical excitations do not extend over an excessively wide frequency band, the width of the frequency band depending on the angular velocity of the rotating element, - the acquisition period is sufficiently long to obtain a reliable statistical estimation of the trend of the defect.
It should be noted that it is not possible to compare the observations obtained from different acquisition windows.
These conditions of stability of the operation of the wind turbine are extremely restrictive inasmuch as, by nature, the operating conditions of a wind turbine are dictated by the wind, and are therefore very difficult to control. In other words, conditions of torque exerted on the rotating element and of angular velocity of the rotating element are conventionally not stationary.
Moreover, when it is the multiplying gear of the wind turbine that is to be monitored, the frequencies to be monitored are numerous and far apart from one another.
The time-related measurement acquisitions then require: - a high sampling frequency for the fastest cyclical excitations, - a high frequency resolution for the slowest cyclical excitations and to differentiate the cyclical excitations for which the frequencies of appearance are close together.
The vibratory signal obtained from an accelerometer is the convolution of the cyclical excitation that can be produced by the rotating element to be monitored by the transfer function of the casing. Now, the transfer function of the casing is extremely sensitive to the mounting conditions. Consequently, the observation of one and the same defect for one and the same speed of operation of the wind turbine may differ significantly for two different mounting conditions of the casing. Furthermore, change of angular velocity conditions of the rotating element implies a change of the location of the frequency of appearance of the cyclical excitation, and therefore implies modifications of levels measured by the accelerometer. Furthermore, such time-related measurement acquisitions cannot detect the defects that appear in transitional speeds of the wind turbine, for example while the wind turbine is starting up or stopping. In practice, as specified previously, the time-related measurement acquisitions have to be performed when the operating conditions of the wind turbine are stable, the transitional speeds being inherently unstable.
Furthermore, the damping of the solid pathway transmitting the cyclical excitation to the accelerometer does not allow the whole of the shaft line to be monitored with a single accelerometer. In particular, it is common practice to use ten or so accelerometers to monitor a complete shaft line, which leads to high servicing costs and difficulties in managing the signals to be stored and processed.
The present invention aims to remedy all or some of the abovementioned drawbacks and relates to a method for monitoring a rotating element belonging to a mechanical transmission of a wind turbine, the method being noteworthy in that it comprises the steps of: - a) determining a signal representative of the instantaneous angular velocity of the rotating element over an acquisition period, - b) sampling the signal representative of the instantaneous angular velocity with a constant angular pitch over a determined number of samples, - c) calculating the discrete Fourier transform of the signal representative of the angular velocity sampled during the step b) so as to obtain an order spectrum of the signal representative of the angular velocity, - d) detecting the fundamental frequency of appearance of a defect of the rotating element on the order spectrum of the signal representative of the angular velocity.
Thus, such a monitoring method makes it possible to detect a defect of the rotating element, from its frequency of appearance, called characteristic frequency, on the order spectrum of the signal representative of the angular velocity.
The characteristic frequency of the defect is conventionally obtained by a preliminary analysis, in particular by a geometrical analysis of the rotating element.
Such a monitoring method makes it possible to detect the fundamental frequency of appearance over the order spectrum in the vicinity of the characteristic frequency inasmuch as the fundamental frequency of appearance may be different from the characteristic frequency.
The monitoring is then easily obtained, for example by tracking the amplitude of the order spectrum for the fundamental frequency of appearance.
Such a monitoring method uses a signal representative of the instantaneous angular velocity sampled with constant angle pitch, which makes it possible to detect a defect for conditions of torque exerted on the rotating element and of angular velocity of the rotating element which are not stationary and for transitional speeds of the wind turbine, which is impossible with a vibratory monitoring using conventional accelerometers and time-related acquisition systems.
According to one implementation, the order spectrum of the angular velocity signal exhibits a frequency component of the wideband type, and the computation means are configured to apply a windowing (w(i)) to the signal representative of the angular velocity sampled (ω(ί)), the windowing being configured to remove the frequency component of the wideband type.
Thus, when the angular velocity of the rotating element exhibits a time-related macroscopic variation, this macroscopic variation generates a frequency component of the wideband type on the order spectrum. Thus, such a monitoring method makes it possible to accurately detect a defect of the rotating element despite a time-related macroscopic variation of the angular velocity of the rotating element.
According to one implementation, the step b) comprises the steps of: - calculating the average value of the signal representative of the instantaneous angular velocity determined during the step a) over the acquisition period, - complementing the signal representative of the instantaneous angular velocity determined during the step a) with a number of points each exhibiting a value substantially equal to said calculated average value of the signal representative of the instantaneous angular velocity, the number of points being determined so that the number of samples defines a time interval which is a multiple of the fundamental period of appearance of the defect.
Thus, such a monitoring method makes it possible to overcome the effect called "Picket Fence Effect" for the discrete Fourier transform of the signal representative of the angular velocity sampled when the angular velocity of the rotating element is macroscopically stable.
Advantageously, the monitoring method also comprises the steps of: - measuring the average value of an instantaneous angular velocity signal over the acquisition period, - measuring the average value of the torque exerted on the rotating element over the acquisition period, - normalizing the signal representative of the instantaneous angular velocity determined during the step a) relative to a signal representative of the reference angular velocity.
Thus, it is possible to compare, for similar conditions of average value exerted on the rotating element and of average value of the angular velocity of the rotating element, the signal representative of the instantaneous angular velocity relative to a signal representative of the reference angular velocity, the signal representative of the reference angular velocity corresponding to a rotating element without any defects. Such a method can then make it possible to estimate the life span of the rotating element.
According to a variant embodiment, the monitoring method also comprises the steps of: - measuring the average value of the torque exerted over the acquisition period, - assigning to least one indicator to the fundamental frequency of appearance detected during the step d) over the acquisition period, the indicator preferably corresponding to the amplitude of the order spectrum obtained during the step c) for the fundamental frequency of appearance or to a linear combination of the amplitudes of said order spectrum for the harmonics of the fundamental frequency of appearance, - normalizing the indicators obtained over the acquisition period relative to a reference indicator.
Thus, it is possible to compare, for similar conditions of average value of the torque exerted on the rotating element and of average value of the angular velocity of the rotating element, the indicators relative to a reference indicator, the reference indicator corresponding to a rotating element without any defects. Such a method can then make it possible to estimate the life span of the rotating element. It should be noted that the fundamental frequency of appearance can be modulated during the step of assigning an indicator.
Advantageously, the signal representative of the instantaneous angular velocity determined during the step a) exhibits a maximum frequency, the step b) comprises a step of choosing a sampling frequency less than twice the said maximum frequency, and the step d) comprises a step of detecting the fundamental order frequency of appearance of a defect of the rotating element over an aliasing area of the order spectrum of the signal representative of the angular velocity obtained during the step c).
Thus, such a monitoring method makes it possible to detect a fundamental order frequency of appearance of a defect of the rotating element greater than the Shannon frequency.
According to one embodiment, the signal representative of the instantaneous angular velocity determined during the step a) is an accelerometric signal sampled with constant time step, the step a) comprising a step of mounting an accelerometer on a casing of the rotating element.
Thus, the angular re-sampling with constant angular pitch of the accelerometric signal makes it possible to overcome the disturbances linked to the influence of the angular velocity variations of the rotating element, such as a shaft line of the wind turbine.
Preferentially, the step b) comprises a step of interpolating the accelerometric signal.
According to a variant embodiment, the signal representative of the instantaneous angular velocity determined during the step a) is an instantaneous angular velocity signal.
Thus, such a monitoring method makes it possible to overcome the behavioral influence of a casing of the rotating element.
Advantageously, the step a) and the step b) comprise the steps of: - mounting a tachometer on the rotating element, the tachometer delivering a series of pulses representative of the instantaneous angular position of the rotating element, - measuring the time intervals between two rising edges, notably successive, of the series of pulses via a first high-frequency counter exhibiting a high-frequency clock.
Thus, the measurement of the time intervals between two rising edges, in particular successive rising edges, of the series of pulses makes it possible to determine the instantaneous angular velocity and to obtain a sampling according to a constant angle pitch.
Advantageously, the monitoring method comprises a step of subtracting two successive time intervals measured between two rising edges over the acquisition period so as to obtain a signal representative of the instantaneous angular acceleration.
Thus, such a signal representative of the instantaneous angular acceleration makes it possible to overcome the disturbance linked to the presence of a frequency component of the wideband type which disturbs the detection of the fundamental frequency of appearance of the defect from the order spectrum of the instantaneous angular velocity signal.
According to a variant embodiment, the monitoring method comprises the steps of: - summing the time intervals measured between two rising edges over the acquisition period so as to obtain a signal called sum signal, - interpolating the sum signal, preferably by cubic spline interpolation, so as to obtain an angle-time function, the angle-time function associating each instantaneous angular position of the rotating element with a time step, the time steps corresponding to the crossings of each rising edge over the acquisition period, - sampling said angular position with constant time step, - performing a double time derivation of the angle-time function so as to obtain an instantaneous angular acceleration signal, - filtering said instantaneous angular acceleration signal over a predetermined frequency band.
Thus, such a method makes it possible also to overcome the disturbance linked to the presence of a frequency component of the wideband type which disturbs the detection of the fundamental frequency of appearance of a defect by filtering the instantaneous angular acceleration signal on this frequency band. The squared modulus of the filtered instantanteous angular signal is called envelope.
The re-sampling in the angular domain of the envelope followed by the calculation of its Fourier transform makes it possible to obtain the angular spectral envelope which is analyzed as an instantaneous velocity signal of the rotating element. According to one implementation, the step a) and the step b) comprise a step of measuring the time intervals between a first rising edge and a second rising edge via a second high-frequency counter, the second rising edge being separated from the first rising edge by at least one intermediate rising edge, the second counter preferably being linked to the high-frequency clock of the first counter.
Thus, it is possible to simulate the reduction of the angular resolution of the tachometer, the angular resolution of the tachometer being inversely proportional to the number of intermediate rising edges. Such a monitoring method makes it possible to use only a single tachometer to synchronize an entire shaft line of the wind turbine with an equivalent angular resolution. The first counter and the second counter linked to the same high-frequency clock allow for an easy implementation for example using a single counting card.
The present invention relates also to a system for monitoring a rotating element belonging to a mechanical transmission of a wind turbine, the monitoring system being noteworthy in that it comprises: - determination means arranged to determine a signal representative of the instantaneous angular velocity of the rotating element over an acquisition period, - sampling means configured to sample the signal representative of the angular velocity with a constant angular pitch over a determined number of samples, - computation means configured to calculate the discrete Fourier transform of the signal representative of the angular velocity sampled so as to obtain an order spectrum of the signal representative of the angular velocity, - detection means arranged to detect the fundamental frequency of appearance of a defect of the rotating element on the order spectrum of the signal representative of the angular velocity.
In one embodiment, the order spectrum of the angular velocity signal exhibits a frequency component of the wideband type, and the computation means are configured to apply a windowing (w(i)) to the signal representative of the angular velocity sampled (ω(ί)), the windowing being configured to remove the frequency component of the wideband type.
In one embodiment, the sampling means are configured to: - calculate the average value of the signal representative of the instantaneous angular velocity over the acquisition period, - complement the signal representative of the instantaneous angular velocity with a number of points each exhibiting a value substantially equal to said calculated average value, the number of points being determined so that the number of samples defines a time interval that is a multiple of the fundamental period of appearance of the defect.
In one embodiment, the monitoring system also comprises: - means for measuring the average value of an instantaneous angular velocity signal over the acquisition period, - means for measuring the average value of the torque exerted on the rotating element over the acquisition period, - means for normalizing the signal representative of the instantaneous angular velocity relative to a signal representative of the reference angular velocity.
In one embodiment, the monitoring system also comprises: - means for measuring the average value of an instantaneous angular velocity over the acquisition period, - means for measuring the average value of the torque exerted on the rotating element over the acquisition period, - means for assigning at least one indicator to the fundamental frequency of appearance detected over the acquisition period, the indicator preferably corresponding to the amplitude of the order spectrum for the fundamental frequency of appearance or to a linear combination of the amplitudes of said order spectrum for the harmonics of the fundamental frequency of appearance, - means for normalizing the indicators obtained over the acquisition period relative to a reference indicator.
It should be noted that the fundamental frequency of appearance can be modulated when assigning an indicator.
In one embodiment, the signal representative of the instantaneous angular velocity exhibits a maximum frequency, the sampling means are configured to choose a sampling frequency less than twice said maximum frequency, and the detection means are configured to detect the fundamental order frequency of appearance of the defect of the rotating element over an aliasing area of the order spectrum of the signal representative of the angular velocity.
According to one embodiment, the determination means comprise: - a tachometer mounted on the rotating element, the tachometer delivering a series of pulses representative of the instantaneous angular position of the rotating element, - a first high-frequency counter arranged to measure the time intervals between two rising edges, notably successive, of the series of pulses, the first counter forming the sampling means, the first counter exhibiting a high-frequency clock.
In one embodiment, the computation means are configured to: - sum the time intervals measured between two rising edges over the acquisition period so as to obtain a signal called sum signal, - interpolate the sum signal, preferably by cubic spline interpolation, so as to obtain an angle-time function, the angle-time function associating each instantaneous angular position of the rotating element with a time step, the time steps corresponding to the crossings of each rising edge over the acquisition period, - sampling said angular position with constant time step, - performing a double time derivation of the angle-time function so as to obtain an instantaneous angular acceleration signal, - filtering said instantaneous angular acceleration signal over a predetermined frequency band.
Advantageously, the determination means comprise a second high-frequency counter arranged to measure the time intervals between a first rising edge and a second rising edge, the second rising edge being separated from the first rising edge by at least one intermediate rising edge, the second counter preferably being linked to the high-frequency clock of the first counter.
In one embodiment, the rotating element has a casing, and the determination means comprise at least one accelerometer mounted on the casing.
Other features and advantages will become apparent from the following description of one implementation of a method for monitoring a rotating element belonging to a mechanical transmission of a wind turbine according to the invention, given as an nonlimiting example, with reference to the appended drawings in which: - figure 1 is a graph representing an instantaneous angular velocity signal (in revolutions per minute) of the rotating element over an acquisition period (in terms of number of revolutions of a tachometer), - figure 2 is a graph representing the discrete Fourier transform (in revolutions per minute) of the angular velocity signal illustrated in figure 1, sampled with a constant angular pitch as a function of the order frequency (in events per revolution of the tachometer), - figure 3 is a graph representing the instantaneous angular velocity signal illustrated in figure 1 after windowing, - figure 4 is a graph representing the discrete Fourier transform of the angular velocity signal illustrated in figure 3. - figure 5 is a bottom view of a member for fastening a tachometer on a shaft of the wind turbine, - figure 6 is a front view of the member illustrated in figure 5.
The monitoring method illustrated in figures 1 to 4 comprises the steps of: - a) determining an instantaneous angular velocity signal, denoted ω, of the rotating element over an acquisition period (illustrated in figure 1), - b) sampling the angular velocity signal ω with a constant angular pitch over a determined number of samples, the angular velocity signal sampled at the ith angle pitch being denoted ω(ϊ), - c) calculating the discrete Fourier transform of the angular velocity signal sampled during the step b), so as to obtain an order spectrum of the angular velocity signal ω(ϊ), - d) detecting the fundamental frequency of appearance of a defect of the rotating element on the order spectrum of the angular velocity signal ω(ϊ).
The step a) and the step b) comprise the steps of: - mounting a tachometer on the rotating element, the tachometer delivering a series of pulses representative of the instantaneous angular position ω of the rotating element, - measuring the time intervals between two successive rising edges of the series of pulses, denoted Δί(ϊ), via a high-frequency counter.
The tachometer has a frequency resolution denoted R. The high-frequency counter delivers a clock signal exhibiting a frequency denoted FH.
The sampled angular velocity signal ω(ϊ) is determined according to the following equation:
The order spectrum obtained during the step c) exhibits a frequency component of the wideband type (illustrated in figure 2), and the step c) comprises a step of applying a windowing denoted w(i), preferably of the Hanning type, to the sampled angular velocity signal ω(ΐ) during a step b), the windowing being configured to remove the frequency component of the wideband type.
To this end, let us consider the sampled angular velocity signal ω(ΐ) over a time interval [a : b].
The step of applying a windowing comprises a preliminary step of removing the average value of the sampled angular velocity signal ω(ϊ). The signal obtained, denoted ω0(ί), satisfies the following equation:
The windowing w(i) is then applied. The signal obtained, denoted (o0fen(i), satisfies the following equation: ωΟ/εη(0 = ωο(0· W(i)
Then, the average value of the signal is reinjected. The signal obtained, denoted G)fen(i) (illustrated in figure 3), satisfies the following equation: ω/βη(0 = ω0/βη(ί) + ω(ί) - ω0(ί)
The monitoring method illustrated in figures 1 to 4 can also comprise the steps of: - measuring the average value of the torque exerted over the acquisition period, - assigning at least one indicator to the fundamental frequency of appearance detected during the step d) over the acquisition period, the indicator preferably corresponding to the amplitude of the order spectrum obtained during the step c) for the fundamental frequency of appearance or to a linear combination of the amplitudes of said order spectrum for the harmonics of the fundamental frequency of appearance, - normalizing the indicators obtained over the acquisition period relative to a reference indicator.
More specifically, N signals representative of the instantaneous velocity ω of the rotating element over the acquisition period are considered. For each of said N signals, an indicator denoted x(n), n being an integer, is assigned. The indicator x(n) corresponds to the defect monitored. Obviously, if a plurality of defects are to be monitored, a plurality of indicators will then be assigned, each of them corresponding to a defect to be monitored. It is also possible to assign a plurality of indicators for one and the same defect to be monitored. For each signal x(n), the average value of the instantaneous angular velocity signal ω and the average value of the torque are measured. It is also possible to use statistical estimators (variance, Kurtosis) obtained from other types of signals such as the acceleration or the velocity of the wind to parameterize the normalization. The concept of statistical estimator of the normalization parameter then applies, this statistical estimator being denoted v(n), with reference to the average velocity of the instantaneous angular velocity signal ω.
Consequently, the expression "normalization parameter" should be understood to mean, without differentiation: - the instantaneous rotational velocity ω of the rotating element, - the torque exerted on the rotating element, - the power produced by the wind turbine, - the instantaneous angular acceleration of the rotating element, - the velocity of the wind.
Furthermore, the term "statistical estimator" should be understood to mean and without differentiation, an estimator : - of the average, - of the variance.
Out of the N signals, the Ni first signals are differentiated, these Ni first signals making it possible to establish the reference behavior of the N2 subsequent signals which will be normalized (N=Ni+N2).
The term "normalized" should be understood to mean centered and/or reduced, respectively taking into account the average value and the standard deviation of the signals.
The Ni signals have been recorded before the N2 signals. The indicators x(n), n < Ni, are plotted as a function of v(n). A regression or interpolation method makes it possible to estimate the average amplitude of the indicator as a function of the average velocity of the instantaneous angular velocity signal ω from which it was obtained. A linear regression or a piecewise linear estimation can be used to estimate the reference function x(v) from the Ni indicators. For the piece-wise linear estimation, the interval scanned by the statistical estimator of the normalization parameter v(n), said interval being denoted I, is subdivided into complementary sub-intervals of fixed size (not necessarily constant), the sub-intervals being denoted Ii, I2, ..., 1,. These sub-intervals satisfy the following relationships: u i2 u ...u ii = i Va,b ε [1 ,i\,Iar\Ib = 0
The Ni points are distributed between the different sub-intervals. For each subinterval, the average value of the indicators as well as the average value of the statistical estimator of the normalization parameter v(n) are calculated to obtain the coordinates of the points forming the so-called reference piecewise linear estimation.
It is also possible to calculate a number of statistical estimators of the indicators such as the average value and the variance, as well as the average value of the statistical estimator of the normalization parameter v(n), in order to obtain the coordinates of the points forming the so-called reference piecewise linear estimations. These reference estimations generate the reference functions x(v) by linear interpolation.
The estimations of the reference functions Xi(v) and x2(v) are functions which respectively associate average value and empirical variance with the statistical estimator of the normalization parameter v(n). The statistical estimator of the normalization parameter v(n) of the Ni signals makes it possible to normalize the indicator of the N2 signals with the average value of the indicator estimated from the reference functions Xi(v) and x2(v). It will be recalled that "normalizing" should be understood to mean the operation consisting in centering and/or reducing the indicator.
If the normalized indicator is denoted xn0rm/ the following relationship is satisfied:
The normalized indicators are then observed chronologically in order to make it possible to monitor the rotating element in operating condition, for example via a histogram. Thresholds can be put in place to highlight the trend of a defect or the appearance of a defect.
Figures 5 and 6 illustrate a member 1 for fastening a tachometer-forming coder on a shaft of the wind turbine, the geometry of the shaft not being previously known.
To this end, the fastening member 1 has a central bore 10 configured to receive the shaft, the bore 10 being overdimensioned.
The fastening member 1 comprises tapped holes 11, each tapped hole 11 being configured to receive a headless clamping screw. Such screws are intended to immobilize the fastening member 1 on the shaft in order to avoid, in particular, a rotational slip resulting in an incorrect angular reading of the coder or to avoid an axial slip causing a read head of the coder to be outside the reading field of the coder.
The fastening member 1 is machined from a solid cylinder then cut into two to allow it to be assembled around said shaft of the wind turbine.
Obviously, the implementation of the invention described above is in no way limiting. Details and enhancements can be added thereto in other variant embodiments without in any way departing from the framework of the invention.

Claims (24)

1. Fremgangsmåde til overvågning af et roterende element tilhørende en mekanisk transmission i en vindturbine, hvilken fremgangsmåde er kendetegnet ved, at den omfatter trinene: a) bestemmelse af et signal, som repræsenterer den øjeblikkelige vinkelhastighed (ω) af det roterende element over en registreringsvarighed, b) aftastning af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), med en konstant vinkelforskydning over et bestemt antal aftastnin-ger, c) beregning af den diskrete fouriertransformation af signalet, som repræsenterer vinkelhastigheden (ω(ί)) aftastet i trin b) for derved at opnå et spektrum af ordenen af signalet, som repræsenterer vinkelhastigheden, d) registrering af grundfrekvensen af forekomsten af en defekt i det roterende element på spektret af ordenen af signalet, som repræsenterer vinkelhastigheden.A method of monitoring a rotating element associated with a mechanical transmission in a wind turbine, characterized in that it comprises the steps of: a) determining a signal representing the instantaneous angular velocity (ω) of the rotating element over a recording duration; , b) sensing the signal representing the instantaneous angular velocity (ω) with a constant angular displacement over a certain number of sensors, c) calculating the discrete fourier transformation of the signal representing the angular velocity (ω (ί)) scanned in steps b) thereby obtaining a spectrum of the order of the signal representing the angular velocity; d) recording the fundamental frequency of the occurrence of a defect in the rotating element on the spectrum of the order of the signal representing the angular velocity. 2. Overvågningsfremgangsmåde ifølge krav 1, kendetegnet ved, at spektret af vinkelhastighedssignalets orden udviser en frekvenskomponent af bredbåndstypen, og at beregningsmidlerne er konfigureret til at anvende et vindue (w(i)) på signalet, som repræsenterer den aftastede vinkelhastighed (ω(ΐ)), hvor vinduet er konfigureret til at fjerne frekvenskomponenten af bredbåndstypen.Monitoring method according to claim 1, characterized in that the spectrum of the order of the angular velocity signal exhibits a frequency component of the broadband type and that the calculation means are configured to apply a window (w (i)) to the signal representing the scanned angular velocity (ω (ΐ)). ), where the window is configured to remove the broadband type frequency component. 3. Overvågningsfremgangsmåde ifølge krav 1 eller 2, kendetegnet ved, at trin b) omfatter trinene: - beregning af gennemsnitsværdien af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), over registreringsvarigheden, - komplettering af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), med et antal punkter, der hver har en værdi i det væsentlige lig med den beregnede værdi af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), hvilket antal punkter er bestemt sådan, at antallet af aflastninger definerer et tidsinterval, som er et multiplum af den grundlæggende periode for forekomsten af defekten.Monitoring method according to claim 1 or 2, characterized in that step b) comprises the steps of: - calculating the average value of the signal representing the instantaneous angular velocity (ω) determined in step a) over the recording duration, - completing the signal representing the instantaneous angular velocity (ω) determined in step a), with a number of points each having a value substantially equal to the calculated value of the signal representing the instantaneous angular velocity (ω), which number of points is determined such that the number of reliefs defines a time interval which is a multiple of the basic period for the occurrence of the defect. 4. Overvågningsfremgangsmåde ifølge ethvert af krav 1 til 3, kendetegnet ved, at den også omfatter trinene: - måling af gennemsnitsværdien af et øjeblikkeligt vinkelhastighedssignal (ω) over registreringsvarigheden, - måling af gennemsnitsværdien af torsionsmomentet, som udøves på det roterende element over registreringsperioden, - normalisering af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), i forhold til et signal, som repræsenterer referencevinkelhastigheden.Monitoring method according to any one of claims 1 to 3, characterized in that it also comprises the steps of: - measuring the average value of an instantaneous angular velocity signal (ω) over the recording duration, - measuring the average value of the torque exerted on the rotating element over the recording period, normalizing the signal representing the instantaneous angular velocity (ω) determined in step a) relative to a signal representing the reference angular velocity. 5. Overvågningsfremgangsmåde ifølge ethvert af krav 1 til 3, kendetegnet ved, at den også omfatter trinene: - måling af gennemsnitsværdien af torsionsmomentet udøvet over registreringsvarigheden, - tildeling af mindst en indikator for grundfrekvensen af forekomsten registreret under trin d) over registreringsvarigheden, hvilken indikator fortrinsvis svarer til amplituden af ordenspektret fået i trin c) for grundfrekvensen af forekomsten eller til en lineær kombination af amplituderne af ordensspektret for de harmoniske komponenter af forekomstens grundfrekvens, - normalisering af indikatorerne opnået over aftastningsvarigheden i forhold til en referenceindikator.Monitoring method according to any one of claims 1 to 3, characterized in that it also comprises the steps of: - measuring the average value of the torque exerted over the recording duration, - allocating at least one basic frequency indicator of the occurrence recorded in step d) over the recording duration, preferably corresponds to the amplitude of the order spectrum obtained in step c) for the basic frequency of occurrence or to a linear combination of the amplitudes of the order spectrum for the harmonic components of the base frequency, - normalization of the indicators obtained over the scanning duration relative to a reference indicator. 6. Overvågningsfremgangsmåde ifølge ethvert af krav 1 til 5, kendetegnet ved, at signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), har en maksimumfrekvens, at trin b) omfatter et trin med valg af en af-tastningsfrekvens, som er mindre end to gange maksimumfrekvensen, og at trin d) omfatter et trin med registrering af den grundlæggende frekvensorden af forekomsten af en defekt i det roterende element over et aliseringsområde af ordensspektret af signalet, som repræsenterer vinkelhastigheden fået i trin c).Monitoring method according to any of claims 1 to 5, characterized in that the signal representing the instantaneous angular velocity (ω) determined in step a) has a maximum frequency that step b) comprises a step of selecting a sampling frequency. which is less than twice the maximum frequency, and that step d) comprises a step of detecting the fundamental frequency order of the occurrence of a defect in the rotating element over an alignment region of the order spectrum of the signal representing the angular velocity obtained in step c). 7. Overvågningsfremgangsmåde ifølge ethvert af krav 1 til 6, kendetegnet ved, at signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), er et accelerometrisk signal aftastet med konstant tidsforskydning, idet trin a) omfatter et trin med montering af et accelerometer på et hus af det roterende element.Monitoring method according to any of claims 1 to 6, characterized in that the signal representing the instantaneous angular velocity (ω) determined in step a) is an accelerometric signal scanned with constant time offset, step a) comprising a step of mounting an accelerometer on a housing of the rotating element. 8. Overvågningsfremgangsmåde ifølge krav 7, kendetegnet ved, at trin b) omfatter et trin med interpolering af det accelerometriske signal.Monitoring method according to claim 7, characterized in that step b) comprises a step of interpolating the accelerometric signal. 9. Overvågningsfremgangsmåde ifølge ethvert af krav 1 til 6, kendetegnet ved, at signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω) bestemt i trin a), er et øjeblikkeligt vinkelhastighedssignal (ω).Monitoring method according to any one of claims 1 to 6, characterized in that the signal representing the instantaneous angular velocity (ω) determined in step a) is an instantaneous angular velocity signal (ω). 10. Overvågningsfremgangsmåde ifølge krav 9, kendetegnet ved, at trin a) og trin b) omfatter trinene: - montering af et takometer på det roterende element, hvilket takometer leverer en serie impulser, som repræsenterer den øjeblikkelige vinkelstilling (ω) af det roterende element, - måling af tidsintervallerne mellem to stigningsforsider, især successive, af serien af impulser via en første højfrekvenstæller med et højfrekvensur.Monitoring method according to claim 9, characterized in that steps a) and step b) comprise the steps of: - mounting a tachometer on the rotating element, which provides a series of pulses representing the instantaneous angular position (ω) of the rotating element , - measuring the time intervals between two rise faces, especially successive ones, of the series of pulses via a first high frequency counter with a high frequency clock. 11. Overvågningsfremgangsmåde ifølge krav 10, kendetegnet ved, at den omfatter et trin med fratrækning af to på hinanden følgende tidsintervaller målt mellem to stigningsforsider over registreringsvarigheden for derved at opnå et signal, der repræsenterer den øjeblikkelige vinkelacceleration.Monitoring method according to claim 10, characterized in that it comprises a step of subtracting two consecutive time intervals measured between two pitch faces over the recording duration, thereby obtaining a signal representing the instantaneous angular acceleration. 12. Overvågningsfremgangsmåde ifølge krav 10, kendetegnet ved, at den omfatter trinene: - summering af tidsintervallerne målt mellem to stigningsforsider over registreringsvarigheden for derved at få et signal kaldet sumsignalet, - interpolering af sumsignalet, fortrinsvis ved kubisk spline-interpolation, for derved at opnå en vinkel-tid-funktin, hvilken vinkel-tid-funktion knytter hver øjeblikkelig vinkelposition af det roterende element til en tidsforskydning, hvilke tidsforskydninger svarer til hver stigningsforsides overskridelser over registreringsvarigheden, - aftastning af vinkelpositionen med konstant tidsforskydning, - udførelse af en dobbelt tidsudledning af vinkel-tid-funktionen for derved at opnå et øjeblikkeligt vinkelaccelerationssignal, - filtrering af det øjeblikkelige vinkelaccelerationssignal over et forudbestemt frekvensbånd.Monitoring method according to claim 10, characterized in that it comprises the steps of: - summing the time intervals measured between two pitch faces over the recording duration, thereby obtaining a signal called the sum signal, - interpolating the sum signal, preferably by cubic spline interpolation, thereby obtaining an angle-time function, which angle-time function associates each instantaneous angular position of the rotating element with a time offset, which time offset corresponds to each rise front exceeding the recording duration, - scanning the angular position with constant time offset, - performing a dual time derivation of the angular time function to obtain an instantaneous angular acceleration signal, - filtering the instant angular acceleration signal over a predetermined frequency band. 13. Overvågningsfremgangsmåde ifølge et af krav 10 til 12, kendetegnet ved, at trin a) og trin b) omfatter et trin med måling af tidsintervallerne mellem en første stigningsforside og en anden stigningsforside via en anden højfrekvenstæller, hvilken anden stigningsforside er adskilt fra den første stigningsforside med mindst en mellemliggende stigningsforside, hvor den anden tæller fortrinsvis er forbundet med den første tællers højfrekvensur.Monitoring method according to one of claims 10 to 12, characterized in that steps a) and step b) comprise a step of measuring the time intervals between a first rise front and a second rise front via a second high frequency counter, which is the second rise front separated from the first pitch face with at least one intermediate pitch face where the second counter is preferably associated with the high frequency clock of the first counter. 14. System til overvågning af et roterende element tilhørende en mekanisk transmission i en vindturbine, hvilket overvågningssystem er kendetegnet ved, at det omfatter: - bestemmelsesmidler arrangeret til bestemmelse af et signal, som repræsenterer den øjeblikkelige vinkelhastighed (ω) af det roterende element over en registreringsvarighed, - aftastningsmidler konfigureret til aftastning af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), med en konstant vinkelforskydning over et bestemt antal aftastninger, - beregningsmidler konfigureret til beregning af den diskrete Fouriertransformati-on af signalet, som repræsenterer den aftastede vinkelhastighed (ω(ί)), for derved at opnå et spektrum af ordenen af signalet, som repræsenterer vinkelhastigheden, - registreringsmidler til registrering af grundfrekvensen af forekomsten af en defekt i det roterende element på spektret af ordenen af signalet, som repræsenterer vinkelhastigheden (ω(ί)).A system for monitoring a rotating element associated with a mechanical transmission in a wind turbine, which monitoring system is characterized in that it comprises: - determining means arranged to determine a signal representing the instantaneous angular velocity (ω) of the rotating element over a recording duration, - sensing means configured for sensing the signal representing the instantaneous angular velocity (ω), with a constant angular displacement over a specified number of sensors, - calculating means configured to calculate the discrete Fourier transform of the signal representing the scanned angular velocity (ω) (ί)), thereby obtaining a spectrum of the order of the signal representing the angular velocity, - detection means for detecting the fundamental frequency of the occurrence of a defect in the rotating element on the spectrum of the order of the signal representing the angular velocity (ω (ί) ). 15. Overvågningssystem ifølge krav 14, kendetegnet ved, at spektret af vinkelhastighedssignalets orden udviser en frekvenskomponent af bredbåndstypen, og at beregningsmidlerne er konfigureret til at anvende et vindue (w(i)) på signalet, som repræsenterer den aftastede vinkelhastighed (ω(ΐ)), hvor vinduet er konfigureret til at fjerne frekvenskomponenten af bredbåndstypen.Monitoring system according to claim 14, characterized in that the spectrum of the order of the angular velocity signal exhibits a frequency component of the broadband type and that the calculation means are configured to apply a window (w (i)) to the signal representing the scanned angular velocity (ω (ΐ)). ), where the window is configured to remove the broadband type frequency component. 16. Overvågningssystem ifølge krav 14 eller 15, kendetegnet ved, at aflastningsmidlerne er konfigureret til at: - beregne gennemsnitsværdien af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), over registreringsvarigheden, - komplettere signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), med et antal punkter, der hver har en værdi i det væsentlige lig med den beregnede gennemsnitsværdi, hvilket antal punkter er bestemt sådan, at antallet af aftastninger definerer et tidsinterval, som er et multiplum af den grundlæggende periode for forekomsten af defekten.Monitoring system according to claim 14 or 15, characterized in that the relief means are configured to: - calculate the average value of the signal representing the instantaneous angular velocity (ω), over the recording duration, - supplement the signal representing the instantaneous angular velocity (ω), with a number of points each having a value substantially equal to the calculated average value, said number of points being determined such that the number of scans defines a time interval which is a multiple of the basic period of occurrence of the defect. 17. Overvågningssystem ifølge ethvert af krav 14 til 16, kendetegnet ved, at det også omfatter: - midler til måling af gennemsnitsværdien af et øjeblikkelig vinkelhastighedssignal (ω) over registreringsvarigheden, - midler måling af gennemsnitsværdien af torsionsmomentet, som udøves på det roterende element over registreringsvarigheden, - midler til normalisering af signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), i forhold til et signal, som repræsenterer referencevinkelhastigheden.Monitoring system according to any one of claims 14 to 16, characterized in that it also comprises: - means for measuring the average value of an instantaneous angular velocity signal (ω) over the recording duration, - means for measuring the average value of the torque exerted on the rotating element above means for normalizing the signal representing the instantaneous angular velocity (ω) relative to a signal representing the reference angular velocity. 18. Overvågningssystem ifølge ethvert af krav 14 til 17, kendetegnet ved, at det også omfatter: - midler til måling af gennemsnitsværdien af en øjeblikkelig vinkelhastighed (ω) over registreringsvarigheden, - midler til måling gennemsnitsværdien af torsionsmomentet udøvet på det roterende element over registreringsvarigheden, - midler til tildeling af mindst en indikator for grundfrekvensen af forekomsten registreret over registreringsvarigheden, hvilken indikator fortrinsvis svarer til amplituden af ordenspektret for grundfrekvensen af forekomsten eller til en lineær kombination af amplituderne af ordensspektret for de harmoniske komponenter af forekomstens grundfrekvens, - midler til normalisering af indikatorerne opnået over registreringsvarigheden i forhold til en referenceindikator.Monitoring system according to any of claims 14 to 17, characterized in that it also comprises: - means for measuring the average value of an instantaneous angular velocity (ω) over the recording duration, - means for measuring the average value of the torque torque exerted on the rotating element over the recording duration, - means for assigning at least one basis frequency of the occurrence recorded over the registration duration, which indicator preferably corresponds to the amplitude of the order spectrum of the basic frequency of occurrence or to a linear combination of the amplitudes of the order spectrum of the harmonic components of the base frequency, the indicators obtained over the registration duration relative to a reference indicator. 19. Overvågningssystem ifølge ethvert af krav 14 til 18, kendetegnet ved, at signalet, som repræsenterer den øjeblikkelige vinkelhastighed (ω), har en maksimumfrekvens, at aftastningsmidlerne er konfigureret til at vælge en aftastnings-frekvens, som er mindre end to gange maksimumfrekvensen, og at registreringsmidlerne er konfigureret til at registrere den grundlæggende frekvensorden af forekomsten af defekten i det roterende element over et aliseringsområde af ordensspektret af signalet, som repræsenterer vinkelhastigheden.Monitoring system according to any of claims 14 to 18, characterized in that the signal representing the instantaneous angular velocity (ω) has a maximum frequency, that the scanning means is configured to select a scanning frequency less than twice the maximum frequency. and that the detection means are configured to detect the fundamental frequency order of the occurrence of the defect in the rotating element over an aligning range of the order spectrum of the signal representing the angular velocity. 20. Overvågningssystem ifølge ethvert af krav 11 til 14, kendetegnet ved, at bestemmelsesmidlerne omfatter: - et takometer monteret på det roterende element, hvilket takometer leverer en serie impulser, som repræsenterer den øjeblikkelige vinkelstilling af det roterende element, - en første højfrekvenstæller arrangeret til at måle tidsintervallerne mellem to stigningsforsider, især successive, af serien af impulser, hvor den første højfrekvenstæller udgør aftastningsmidlet, idet den første tæller har et højfrekvensur.Monitoring system according to any one of claims 11 to 14, characterized in that the determining means comprise: - a tachometer mounted on the rotating element, which provides a series of pulses representing the instantaneous angular position of the rotating element, - a first high frequency counter arranged for measuring the time intervals between two rise faces, especially successive ones, of the series of pulses, the first high frequency counter constituting the sensing means, the first counter having a high frequency clock. 21. Overvågningssystem ifølge krav 20, kendetegnet ved, at beregningsmidlet er konfigureret til at fratrække to på hinanden følgende tidsintervaller målt mellem to stigningsforsider over registreringsvarigheden for derved at opnå et signal, der repræsenterer den øjeblikkelige vinkelacceleration.Monitoring system according to claim 20, characterized in that the computing means is configured to subtract two consecutive time intervals measured between two pitch faces over the recording duration, thereby obtaining a signal representing the instantaneous angular acceleration. 22. Overvågningssystem ifølge krav 20, kendetegnet ved, at beregningsmidlet er konfigureret til at: - summere tidsintervallerne målt mellem to stigningsforsider over registreringsvarigheden for derved at opnå et signal kaldet sumsignalet, - interpolere sumsignalet, fortrinsvis ved kubisk spline-interpolation, for derved at opnå en vinkel-tid-funktion, hvilken vinkel-tid-funktion knytter hver øjeblikkelig vinkelposition af det roterende element til en tidsforskydning, hvilke tidsforskydninger svarer til hver stigningsforsides overskridelser over aftastningsvarigheden, - aftastning af vinkelpositionen med konstant tidsforskydning, - udførelse af en dobbelt tidsudledning af vinkel-tid-funktionen for derved at opnå et øjeblikkeligt vinkelaccelerationssignal, - filtrering af det øjeblikkelige vinkelaccelerationssignal over et forudbestemt frekvensbånd.Monitoring system according to claim 20, characterized in that the computing means is configured to: - sum the time intervals measured between two pitches over the recording duration, thereby obtaining a signal called the sum signal, - interpolate the sum signal, preferably by cubic spline interpolation, thereby obtaining an angle-time function, which angle-time function associates each instantaneous angular position of the rotating element with a time offset, which time offsets each pitch face exceeding the scan duration, - scanning the angular position with a constant time offset, - performing a dual time derivation of the angular time function to obtain an instantaneous angular acceleration signal, - filtering the instant angular acceleration signal over a predetermined frequency band. 23. Overvågningssystem ifølge et af krav 20 til 22, kendetegnet ved, at bestemmelsesmidlet omfatter en anden højfrekvenstæller til måling af tidsintervallerne mellem en første stigningsforside og en anden stigningsforside, hvilken anden stigningsforside er adskilt fra den første stigningsforside med mindst en mellemliggende stigningsforside, hvor den anden tæller fortrinsvis er forbundet med den første tællers højfrekvensur.Monitoring system according to one of claims 20 to 22, characterized in that the determining means comprises a second high frequency counter for measuring the time intervals between a first rise front and a second rise front, which is separated from the first rise front with at least one intermediate rise front, where the second counter is preferably associated with the high frequency clock of the first counter. 24. Overvågningssystem ifølge et af krav 14 til 19, kendetegnet ved, at det roterende element har et hus, og at bestemmelsesmidlet omfatter mindst et accelerometer monteret på huset.Monitoring system according to one of claims 14 to 19, characterized in that the rotating element has a housing and the determining means comprises at least one accelerometer mounted on the housing.
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US5501105A (en) * 1991-10-02 1996-03-26 Monitoring Technology Corp. Digital signal processing of encoder signals to detect resonances in rotating machines
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